System and method for generating an initial transformation matrix for registering intraoperative imaging data with preoperative imaging data

Abstract

Various systems and methods are provided for generating an initial transformation matrix for registering intraoperative imaging data with preoperative imaging data. Position data of a tracked instrument that is moved in a trajectory corresponding to a predefined shape relative to a patient may be received. A first set of coordinates of the position data corresponding to the predefined shape may be determined. Preoperative imaging data of the patient may be received. A second set of coordinates of the preoperative imaging data corresponding to the predefined shape may be determined. The initial transformation matrix may be generated based on the first set of coordinates and the second set of coordinates. The intraoperative imaging data may be registered with the preoperative imaging data based on the initial transformation matrix.

1 . A method comprising:
 receiving position data of a tracked instrument that is moved in a trajectory corresponding to a predefined shape relative to a patient;   determining a first set of coordinates of one or more points of the trajectory corresponding to the predefined shape based on the position data;   receiving preoperative imaging data of the patient;   determining a second set of coordinates of the preoperative imaging data corresponding to the predefined shape;   generating an initial transformation matrix based on the first set of coordinates and the second set of coordinates;   registering intraoperative imaging data with the preoperative imaging data based on the initial transformation matrix;   generating an image for guiding a surgery using the intraoperative imaging data and the preoperative imaging data; and   displaying the image for guiding the surgery based on generating the image for guiding the surgery using the intraoperative imaging data and the preoperative imaging data.   
     
     
         2 . The method of  claim 1 , wherein the determining the second set of coordinates comprises determining the second set of coordinates using metadata of the preoperative imaging data. 
     
     
         3 . (canceled) 
     
     
         4 . The method of  claim 1 , wherein the predefined shape is an L-shape, and wherein the first set of coordinates includes first coordinates of a first position of the trajectory, second coordinates of a last point in the trajectory, and third coordinates of a point in the trajectory where the tracked instrument changes movement from a superoinferior direction to a lateral direction. 
     
     
         5 . The method of  claim 1 , wherein the first set of coordinates includes a first coordinate and a second coordinate that correspond to a superoinferior movement of the tracked instrument relative to the patient, and the second coordinate and a third coordinate that correspond to a lateral movement of the tracked instrument relative to the patient. 
     
     
         6 . The method of  claim 1 , further comprising:
 generating a final transformation matrix based on the initial transformation matrix,   wherein the registering the intraoperative imaging data with the preoperative imaging data comprises registering the intraoperative imaging data with the preoperative imaging data using the final transformation matrix.   
     
     
         7 . (canceled) 
     
     
         8 . A device comprising:
 a memory configured to store instructions; and   one or more processors configured to execute the instructions to perform operations comprising:
 receiving position data of a tracked instrument that is moved in a trajectory corresponding to a predefined shape relative to a patient; 
 determining a first set of coordinates of one or more points of the trajectory corresponding to the predefined shape based on the position data; 
 receiving preoperative imaging data of the patient; 
 determining a second set of coordinates of the preoperative imaging data corresponding to the predefined shape; 
 generating an initial transformation matrix based on the first set of coordinates and the second set of coordinates; and 
 registering intraoperative imaging data with the preoperative imaging data based on the initial transformation matrix. 
   
     
     
         9 . The device of  claim 8 , wherein the determining the second set of coordinates comprises determining the second set of coordinates using metadata of the preoperative imaging data. 
     
     
         10 . The device of  claim 9 , wherein the metadata includes at least one of a patient position attribute, an image orientation attribute, an image position attribute, and a pixel spacing attribute. 
     
     
         11 . The device of  claim 8 , wherein the predefined shape is an L-shape, and wherein the first set of coordinates includes first coordinates of a first position of the trajectory, second coordinates of a last point in the trajectory, and third coordinates of a point in the trajectory where the tracked instrument changes movement from a superoinferior direction to a lateral direction. 
     
     
         12 . The device of  claim 8 , wherein the first set of coordinates includes a first coordinate and a second coordinate that correspond to a superoinferior movement of the tracked instrument relative to the patient, and the second coordinate and a third coordinate that correspond to a lateral movement of the tracked instrument relative to the patient. 
     
     
         13 . The device of  claim 8 , wherein the operations further comprise:
 generating a final transformation matrix based on the initial transformation matrix,   wherein the registering the intraoperative imaging data with the preoperative imaging data comprises registering the intraoperative imaging data with the preoperative imaging data using the final transformation matrix.   
     
     
         14 . (canceled) 
     
     
         15 . A non-transitory computer-readable medium storing instructions that, when executed by one or more processors, cause the one or more processors to perform operations comprising:
 receiving position data of a tracked instrument that is moved in a trajectory corresponding to a predefined shape relative to a patient;   determining a first set of coordinates of one or more points of the trajectory corresponding to the predefined shape based on the position data;   receiving preoperative imaging data of the patient;   determining a second set of coordinates of the preoperative imaging data corresponding to the predefined shape;   generating an initial transformation matrix based on the first set of coordinates and the second set of coordinates; and   registering intraoperative imaging data with the preoperative imaging data based on the initial transformation matrix.   
     
     
         16 . The non-transitory computer-readable medium of  claim 15 , wherein the determining the second set of coordinates comprises determining the second set of coordinates using metadata of the preoperative imaging data. 
     
     
         17 . The non-transitory computer-readable medium of  claim 16 , wherein the metadata includes at least one of a patient position attribute, an image orientation attribute, an image position attribute, and a pixel spacing attribute. 
     
     
         18 . The non-transitory computer-readable medium of  claim 15 , wherein the predefined shape is an L-shape, and wherein the first set of coordinates includes first coordinates of a first position of the trajectory, second coordinates of a last point in the trajectory, and third coordinates of a point in the trajectory where the tracked instrument changes movement from a superoinferior direction to a lateral direction. 
     
     
         19 . The non-transitory computer-readable medium of  claim 15 , wherein the first set of coordinates includes a first coordinate and a second coordinate that correspond to a superoinferior movement of the tracked instrument relative to the patient, and the second coordinate and a third coordinate that correspond to a lateral movement of the tracked instrument relative to the patient. 
     
     
         20 . The non-transitory computer-readable medium of  claim 15 , wherein the operations further comprise:
 generating a final transformation matrix based on the initial transformation matrix,   wherein the registering the intraoperative imaging data with the preoperative imaging data comprises registering the intraoperative imaging data with the preoperative imaging data using the final transformation matrix.   
     
     
         21 . The method of  claim 1 , further comprising:
 determining distances between the first set of coordinates,   wherein the determining the second set of coordinates of the preoperative imaging data comprises determining the second set of coordinates of the preoperative imaging data corresponding to the predefined shape based on the distances between the first set of coordinates.   
     
     
         22 . The device of  claim 8 , wherein the operations further comprise:
 determining distances between the first set of coordinates,   wherein the determining the second set of coordinates of the preoperative imaging data comprises determining the second set of coordinates of the preoperative imaging data corresponding to the predefined shape based on the distances between the first set of coordinates.   
     
     
         23 . The method of  claim 1 , wherein:
 the first set of coordinates includes first coordinates of a first position of the trajectory, second coordinates of a last point in the trajectory, and third coordinates of a point in the trajectory where the tracked instrument changes from a superoinferior movement in a superoinferior direction relative to the patient to a lateral movement in a lateral direction relative to the patient,   the second set of coordinates includes fourth coordinates of a first point along the shape in the superoinferior direction, fifth coordinates of a second point along the shape in the lateral direction, and sixth coordinates of a third point where the shape changes from the superoinferior direction to the lateral direction, and   the initial transformation matrix transforms the first coordinates to the fourth coordinates, that transforms the second coordinates to the fifth coordinates, and transforms the third coordinates to the sixth coordinates.